#ifndef _IMU_H_
#define _IMU_H_
#include "stm32f4xx.h"
#include "MPU6050.h"
#include "ak8975.h"
#include "ms5611.h"

typedef struct{
				float X;
				float Y;
				float Z;}T_FLOAT_XYZ;
typedef struct{
				float ROL;
				float PIT;
				float YAW;}T_FLOAT_ANGEL;
extern T_FLOAT_ANGEL Q_ANGLE;
extern float Q_Angle_Offset_Rol,Q_Angle_Offset_Pit;

extern vs16 Mx_Offset,My_Offset,Mz_Offset;
extern float My_Gain,Mz_Gain;
extern float Heading;


void Prepare_Data(void);
void Get_Attitude(void);

void Cal_Compass(void);
void Get_CompassAngle(void);

#endif
